| This paper is concerned with theoretical study of vehicles mutual moving-state detection and control system under condition of straightaway. It demonstrates the general project of vehicles mutual moving-state detection and control system, which use a frequency modulated continuous wave (FMCW) radar with the antenna replaced by a frequency scanning array as the basis of detecting sensor. The cost of the system is reduced and the structure is predigested, and it makes the detection system can measure distance, relative velocity and azimuth angle at the same time. It also analyzes the structure and studies the testing principle of detecting radar. Circuit of detection and control system is designed, and use a watch timer (WatchDog) to ensure the reliability of system software. Mathematic model of collision avoidance judging based on the information of distance, relative velocity and azimuth angle is made in this paper, it can effectively avoid inveracious alert, and it analyzes the processing method of many kinds information in the system. The relationship of brake-force and deceleration and the brake model of wheels are studied, and dynamics model is made. Numerical simulations of collision avoidance judging model are conducted in the paper, the relationships of many factors and safety distance are got. Once the serious situation emerges, the drive will be warned, or the auto-control system will operate according to the analysis of the surrounding condition.This paper can give a better reference role to the study and test of such work like "vehicles mutual moving-state detection and control system" in the future. |
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